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   1 /*
   2  * Copyright © 2017 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  */
  14
  15 package org.altusmetrum.altoslib_14;
  16
  17 public class AltosEepromRecordMega extends AltosEepromRecord {
  18         public static final int record_length = 32;
  19
  20         public static final int max_sat = 12;
  21
  22         private int log_format;
  23
  24         /* AO_LOG_FLIGHT elements */
  25         private int flight() { return data16(0); }
  26         private int ground_accel() { return data16(2); }
  27         private int ground_pres() { return data32(4); }
  28         private int ground_accel_along() { return data16(8); }
  29         private int ground_accel_across() { return data16(10); }
  30         private int ground_accel_through() { return data16(12); }
  31         private int ground_roll() {
  32                 switch (log_format) {
  33                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  34                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  35                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  36                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  37                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  38                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
  39                         return data32(16);
  40                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  41                         return data16(14);
  42                 default:
  43                         return AltosLib.MISSING;
  44                 }
  45         }
  46         private int ground_pitch() {
  47                 switch (log_format) {
  48                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  49                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  50                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  51                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  52                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  53                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
  54                         return data32(20);
  55                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  56                         return data16(16);
  57                 default:
  58                         return AltosLib.MISSING;
  59                 }
  60         }
  61         private int ground_yaw() {
  62                 switch (log_format) {
  63                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  64                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  65                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  66                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  67                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  68                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
  69                         return data32(24);
  70                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  71                         return data16(18);
  72                 default:
  73                         return AltosLib.MISSING;
  74                 }
  75         }
  76
  77         /* AO_LOG_STATE elements */
  78         private int state() { return data16(0); }
  79         private int reason() { return data16(2); }
  80
  81         /* AO_LOG_SENSOR elements */
  82         private int pres() { return data32(0); }
  83         private int temp() { return data32(4); }
  84         private int accel_x() { return data16(8); }
  85         private int accel_y() { return data16(10); }
  86         private int accel_z() { return data16(12); }
  87         private int gyro_x() { return data16(14); }
  88         private int gyro_y() { return data16(16); }
  89         private int gyro_z() { return data16(18); }
  90         private int mag_x() { return data16(20); }
  91         private int mag_z() { return data16(22); }
  92         private int mag_y() { return data16(24); }
  93
  94         /* normalized log data */
  95         private int norm_accel_along() { return data16(8); }
  96         private int norm_accel_across() { return data16(10); }
  97         private int norm_accel_through() { return data16(12); }
  98         private int norm_gyro_roll() { return data16(14); }
  99         private int norm_gyro_pitch() { return data16(16); }
 100         private int norm_gyro_yaw() { return data16(18); }
 101         private int norm_mag_along() { return data16(20); }
 102         private int norm_mag_across() { return data16(22); }
 103         private int norm_mag_through() { return data16(24); }
 104
 105         private int imu_type() {
 106                 switch (log_format) {
 107                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 108                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 109                         return AltosIMU.imu_type_telemega_v1_v2;
 110                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 111                         return AltosIMU.imu_type_telemega_v3;
 112                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 113                         return AltosIMU.imu_type_easymega_v2;
 114                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 115                         return AltosIMU.imu_type_telemega_v4;
 116                 default:
 117                         return AltosLib.MISSING;
 118                 }
 119         }
 120
 121         private int imu_model() {
 122                 switch (log_format) {
 123                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 124                         return AltosLib.model_mpu6000;
 125                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 126                         return AltosLib.model_bmi088;
 127                 }
 128                 return AltosLib.MISSING;
 129         }
 130
 131         private boolean sensor_normalized() {
 132                 switch (log_format) {
 133                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 134                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 135                         return true;
 136                 }
 137                 return false;
 138         }
 139
 140         private int mag_model() {
 141                 switch (log_format) {
 142                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 143                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 144                         return AltosLib.model_mmc5983;
 145                 }
 146                 return AltosLib.MISSING;
 147         }
 148
 149         private int accel_across() {
 150                 if (sensor_normalized()) {
 151                         return norm_accel_across();
 152                 }
 153
 154                 switch (log_format) {
 155                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 156                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 157                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 158                         return accel_x();
 159                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 160                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 161                         return -accel_y();
 162                 default:
 163                         return AltosLib.MISSING;
 164                 }
 165         }
 166
 167         private int accel_along(){
 168                 if (sensor_normalized()) {
 169                         return norm_accel_along();
 170                 }
 171
 172                 switch (log_format) {
 173                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 174                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 175                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 176                         return accel_y();
 177                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 178                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 179                         return accel_x();
 180                 default:
 181                         return AltosLib.MISSING;
 182                 }
 183         }
 184
 185         private int accel_through() {
 186                 if (sensor_normalized()) {
 187                         return norm_accel_through();
 188                 }
 189
 190                 return accel_z();
 191         }
 192
 193         private int gyro_pitch() {
 194                 if (sensor_normalized()) {
 195                         return norm_gyro_pitch();
 196                 }
 197
 198                 switch (log_format) {
 199                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 200                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 201                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 202                         return gyro_x();
 203                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 204                         return -gyro_y();
 205                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 206                         return -gyro_y();
 207                 default:
 208                         return AltosLib.MISSING;
 209                 }
 210         }
 211
 212         private int gyro_roll() {
 213                 if (sensor_normalized()) {
 214                         return norm_gyro_roll();
 215                 }
 216
 217                 switch (log_format) {
 218                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 219                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 220                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 221                         return gyro_y();
 222                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 223                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 224                         return gyro_x();
 225                 default:
 226                         return AltosLib.MISSING;
 227                 }
 228         }
 229
 230         private int gyro_yaw() {
 231                 if (sensor_normalized()) {
 232                         return norm_gyro_yaw();
 233                 }
 234
 235                 return gyro_z();
 236         }
 237
 238         private int mag_across() {
 239                 if (sensor_normalized()) {
 240                         return norm_mag_across();
 241                 }
 242
 243                 switch (log_format) {
 244                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 245                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 246                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 247                         return mag_x();
 248                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 249                         return -mag_y();
 250                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 251                         return mag_y();
 252                 default:
 253                         return AltosLib.MISSING;
 254                 }
 255         }
 256
 257         private int mag_along() {
 258                 if (sensor_normalized()) {
 259                         return norm_mag_along();
 260                 }
 261
 262                 switch (log_format) {
 263                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 264                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 265                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 266                         return mag_y();
 267                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 268                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 269                         return mag_x();
 270                 default:
 271                         return AltosLib.MISSING;
 272                 }
 273         }
 274
 275         private int mag_through() {
 276                 if (sensor_normalized()) {
 277                         return norm_mag_through();
 278                 }
 279
 280                 return mag_z();
 281         }
 282
 283
 284         private int accel() { return data16(26); }
 285
 286         /* AO_LOG_TEMP_VOLT elements */
 287         private int v_batt() { return data16(0); }
 288         private int v_pbatt() { return data16(2); }
 289         private int nsense() { return data16(4); }
 290         private int sense(int i) { return data16(6 + i * 2); }
 291         private int pyro() { return data16(26); }
 292
 293         /* AO_LOG_GPS_TIME elements */
 294         private int latitude() { return data32(0); }
 295         private int longitude() { return data32(4); }
 296         private int altitude_low() { return data16(8); }
 297         private int hour() { return data8(10); }
 298         private int minute() { return data8(11); }
 299         private int second() { return data8(12); }
 300         private int flags() { return data8(13); }
 301         private int year() { return data8(14); }
 302         private int month() { return data8(15); }
 303         private int day() { return data8(16); }
 304         private int course() { return data8(17); }
 305         private int ground_speed() { return data16(18); }
 306         private int climb_rate() { return data16(20); }
 307         private int pdop() { return data8(22); }
 308         private int hdop() { return data8(23); }
 309         private int vdop() { return data8(24); }
 310         private int mode() { return data8(25); }
 311         private int altitude_high() { return data16(26); }
 312
 313         /* AO_LOG_GPS_SAT elements */
 314         private int nsat() { return data16(0); }
 315         private int svid(int n) { return data8(2 + n * 2); }
 316         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 317
 318         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 319                 super.provide_data(listener, cal_data);
 320
 321                 AltosGPS        gps;
 322
 323                 cal_data.set_imu_type(imu_type());
 324                 cal_data.set_imu_model(imu_model());
 325                 cal_data.set_mag_model(mag_model());
 326
 327                 switch (cmd()) {
 328                 case AltosLib.AO_LOG_FLIGHT:
 329                         cal_data.set_flight(flight());
 330                         cal_data.set_ground_accel(ground_accel());
 331                         cal_data.set_ground_pressure(ground_pres());
 332                         listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
 333                                                   cal_data.accel_across(ground_accel_across()),
 334                                                   cal_data.accel_through(ground_accel_through()));
 335                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 336                                                ground_pitch() / 512.0,
 337                                                ground_yaw() / 512.0);
 338                         break;
 339                 case AltosLib.AO_LOG_STATE:
 340                         listener.set_state(state());
 341                         break;
 342                 case AltosLib.AO_LOG_SENSOR:
 343                         AltosConfigData config_data = eeprom.config_data();
 344                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 345                         listener.set_pressure(pt.pres);
 346                         listener.set_temperature(pt.temp);
 347
 348                         int     accel_along = accel_along();
 349                         int     accel_across = accel_across();
 350                         int     accel_through = accel_through();
 351                         int     gyro_roll = gyro_roll();
 352                         int     gyro_pitch = gyro_pitch();
 353                         int     gyro_yaw = gyro_yaw();
 354
 355                         int     mag_along = mag_along();
 356                         int     mag_across = mag_across();
 357                         int     mag_through = mag_through();
 358
 359                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 360                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 361
 362                         listener.set_accel(cal_data.accel_along(accel_along),
 363                                            cal_data.accel_across(accel_across),
 364                                            cal_data.accel_through(accel_through));
 365                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 366                                           cal_data.gyro_pitch(gyro_pitch),
 367                                           cal_data.gyro_yaw(gyro_yaw));
 368
 369                         listener.set_mag(cal_data.mag_along(mag_along),
 370                                          cal_data.mag_across(mag_across),
 371                                          cal_data.mag_through(mag_through));
 372
 373                         listener.set_acceleration(cal_data.acceleration(accel()));
 374                         break;
 375                 case AltosLib.AO_LOG_TEMP_VOLT:
 376                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 377                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 378
 379                         int nsense = nsense();
 380
 381                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 382                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 383
 384                         double voltages[] = new double[nsense-2];
 385                         for (int i = 0; i < nsense-2; i++)
 386                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 387
 388                         listener.set_igniter_voltage(voltages);
 389                         listener.set_pyro_fired(pyro());
 390                         break;
 391                 case AltosLib.AO_LOG_GPS_TIME:
 392                         gps = listener.make_temp_gps(false);
 393                         gps.lat = latitude() / 1e7;
 394                         gps.lon = longitude() / 1e7;
 395
 396                         if (config_data().altitude_32())
 397                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 398                         else
 399                                 gps.alt = altitude_low();
 400
 401                         gps.hour = hour();
 402                         gps.minute = minute();
 403                         gps.second = second();
 404
 405                         int flags = flags();
 406
 407                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 408                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 409                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 410                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 411
 412                         gps.year = 2000 + year();
 413                         gps.month = month();
 414                         gps.day = day();
 415                         gps.ground_speed = ground_speed() * 1.0e-2;
 416                         gps.course = course() * 2;
 417                         gps.climb_rate = climb_rate() * 1.0e-2;
 418                         if (config_data().compare_version("1.4.9") >= 0) {
 419                                 gps.pdop = pdop() / 10.0;
 420                                 gps.hdop = hdop() / 10.0;
 421                                 gps.vdop = vdop() / 10.0;
 422                         } else {
 423                                 gps.pdop = pdop() / 100.0;
 424                                 if (gps.pdop < 0.8)
 425                                         gps.pdop += 2.56;
 426                                 gps.hdop = hdop() / 100.0;
 427                                 if (gps.hdop < 0.8)
 428                                         gps.hdop += 2.56;
 429                                 gps.vdop = vdop() / 100.0;
 430                                 if (gps.vdop < 0.8)
 431                                         gps.vdop += 2.56;
 432                         }
 433                         break;
 434                 case AltosLib.AO_LOG_GPS_SAT:
 435                         gps = listener.make_temp_gps(true);
 436
 437                         int n = nsat();
 438                         if (n > max_sat)
 439                                 n = max_sat;
 440                         for (int i = 0; i < n; i++)
 441                                 gps.add_sat(svid(i), c_n(i));
 442                         break;
 443                 }
 444         }
 445
 446         public AltosEepromRecord next() {
 447                 int     s = next_start();
 448                 if (s < 0)
 449                         return null;
 450                 return new AltosEepromRecordMega(eeprom, s);
 451         }
 452
 453         public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 454                 super(eeprom, start, record_length);
 455                 log_format = eeprom.config_data().log_format;
 456         }
 457
 458         public AltosEepromRecordMega(AltosEeprom eeprom) {
 459                 this(eeprom, 0);
 460         }
 461 }